CN107330142B - On-machine detection measuring point normal vector estimation method based on STL model - Google Patents
On-machine detection measuring point normal vector estimation method based on STL model Download PDFInfo
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Abstract
The invention discloses a measuring point normal vector estimation method based on-machine detection of an STL model, which comprises the following steps of: (1) reconstructing topology; (2) planning measuring points; (3) when the measuring point is positioned at the vertex of the triangular mesh, the step (4) is carried out; when the measuring point is positioned in the triangular mesh, the step (6) is carried out; (4) determining the number of the vertex where the measuring point is located through coordinate matching, finding the information of the adjacent point, line and surface through the topological relation of the vertex, and calculating the normal vector direction of the vertex on the basis of the information
Jumping to the step (7); (5) projecting the measuring points and the triangular meshes to an x-y plane, and determining the numbers of triangular patches where the measuring points are located; (6) three vertexes A, B, C of the triangular patch where the measuring point is located are obtained by using the topological relation of the surface, and the normal vector of the measuring point is obtained through calculation
(7) And (5) reading the information of the next measuring point, and repeating the steps (3) to (6) until the normal vectors of all the measuring points are calculated. The method can improve the measurement precision of the measured point normal vector.
Description
Technical Field
The invention relates to the field of measurement error compensation of on-line detection, in particular to a measuring point normal vector estimation method of on-line detection based on an STL model.
Background
With the continuous progress of manufacturing technology and equipment, the requirements on the measurement accuracy and the measurement quality of a complex model in an on-machine detection system are higher and higher, wherein the normal vector direction of a measuring point has important influence on the measuring point sampling accuracy, the radius error compensation and the pre-stroke error compensation accuracy of the on-machine measurement system. However, the conventional measuring point normal vector estimation method has large error and cannot accurately measure and obtain the real position of a measuring point. Therefore, for the problem of measuring point normal vector estimation, a new research method needs to be designed to improve the measuring point measurement accuracy.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a measuring point normal vector estimation method based on-machine detection of an STL model, which can effectively improve the measurement precision of the measuring point normal vector.
The purpose of the invention is realized by the following technical scheme:
a measuring point normal vector estimation method based on-machine detection of an STL model comprises the following steps:
(1) topology reconstruction: performing topological reconstruction by taking points, lines and planes as units according to vertex coordinates and triangular patch normal vector information given in an STL file of the STL model, and establishing a relation between the points, the lines and the planes in the STL three-dimensional model through a programming tool;
(2) and (3) measuring point planning: intercepting and intersecting a group of parallel intercepting planes and the STL model, taking the obtained intersection points as model value points, constructing an interpolation curve by adopting a curve reverse solving method, and performing self-adaptive planning on measuring points according to a chord height method to solve the position coordinates of all measuring points;
(3) reading measuring point information according to the measuring point distribution after the measuring point planning, judging the position of the measuring point, and performing the step (4) when the measuring point is positioned at the vertex of the triangular mesh; when the measuring point is positioned in the triangular mesh, the step (6) is carried out;
(4) determining the number of the vertex where the measuring point is located through coordinate matching, finding the information of the adjacent point, line and plane through the topological relation of the vertex, and calculating the normal vector direction of the vertex based on the information
Jumping to the step (7);
(5) projecting the measuring points and the triangular meshes to an x-y plane, and determining the numbers of triangular patches where the measuring points are located;
(6) three vertexes A, B, C of the triangular patch where the measuring points are located are obtained by using the topological relation of the surface, and the three vertexes are calculated according to the method in the step (4)The normal vector direction of the point; connecting the measuring points with the three vertexes, dividing the triangular patch into three small triangles, and respectively calculating the areas of the small triangles to be S1、S2、S3And calculating to obtain the normal vector of the measuring point
(7) Reading the information of the next measuring point, and repeating the steps (3) - (6) until the normal vectors of all the measuring points are calculated.
In the step (1), the relationship between the points, the lines and the surfaces in the STL three-dimensional model is established as follows:
(1) numbering all points, and finding the point and the information of the vertex, the edge and the surface adjacent to the point through any vertex;
(2) numbering all edges, and finding the information of the edge, an end point thereof and an adjacent surface through any edge;
(3) all faces are numbered and information of the face and its vertices, edges, neighboring faces can be found by any face.
The programming tool in the step (1) is Visual Studio 2010.
And (5) determining the number of the triangular patch where the measuring point is located by judging whether the included angle between the measuring point and each vertex of the projection triangle is equal to 360 degrees or not.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
the estimation method solves the problem of estimating the normal vector when the measuring point is positioned in the triangular mesh, improves the estimation precision of the normal vector when the measuring point is positioned at the vertex of the triangular mesh, effectively improves the measurement precision and the measurement quality of an on-machine detection system, and has important influence on the estimation of the processing quality of a workpiece.
Drawings
FIG. 1 is a "point-line-plane" topological relationship diagram of the STL model.
FIG. 2 is a schematic view of the measuring point planning of the present invention
FIG. 3 is a plot of the measured points of the present invention.
Fig. 4 is a schematic diagram of the principle of chordal height.
FIG. 5 is a graph of the vertex topology of the present invention.
FIG. 6 is a schematic diagram of the measuring point normal vector calculation method of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The method for estimating the measured point normal vector of the on-machine detection system comprises the following steps:
the method comprises the following steps: according to vertex coordinates and triangular patch normal vector information given in an STL file of the STL model, performing topological reconstruction by taking points, lines and planes as units, and establishing a relationship among 'points, lines and planes' in the STL three-dimensional model by using a Visual Studio2010 programming tool as follows:
(1) numbering all points, and finding the point and the information of the vertex, the edge and the surface adjacent to the point through any vertex;
(2) numbering all edges, and finding the information of the edge, an end point thereof and an adjacent surface through any edge;
(3) all faces are numbered and information of the face and its vertices, edges, neighboring faces can be found by any face.
The topological relationship between the three points, lines and planes in the STL three-dimensional model is shown in figure 1.
Step two: referring to fig. 2, a group of parallel section planes are intersected with the STL model, the obtained intersection points are used as model value points, a NURBS curve is adopted for fitting to obtain a group of section lines, and finally, the self-adaptive planning of the measuring points is performed according to the chord height method to obtain the position coordinates of all the measuring points, and the distribution of the measuring points is referred to fig. 3.
Please refer to fig. 4, which shows a schematic diagram of the chordal height method, and the implementation process is as follows:
(1) calculating the maximum distance d between the chord AB and the arc AB;
(2) when d > epsilon, the distance between two points is larger, the value of delta u is reduced, delta u is made equal to delta u-delta, and the chord height d is recalculated, wherein epsilon is the allowable chord height, and delta is the reduction step. And (3) continuously repeating the step (2) until d is less than epsilon, and recording the position of the current B point.
(3) And (3) taking the point B as the current point, repeating the steps (1) and (2) until the whole curve is searched, and realizing the self-adaptive measurement point planning of the section of curve.
Step three: and reading the measuring point information according to the measuring point distribution after the measuring point planning, and judging the position of the measuring point. When the measuring points are positioned at the vertexes of the triangular meshes, performing the step (four), and when the measuring points are positioned in the triangular meshes, performing the step (six);
step four: and determining the number of the vertex where the measuring point is located through coordinate matching. Finding out the information of the adjacent points, lines and planes through the topological relation of the vertexes, as shown in figure 5, and calculating the normal vector direction of the point on the basis of the information
In the formula, NmIs the normal vector information of the triangular patch, viIs the position of the vertex, αmIs a neighborhood triangular patch T of the vertexmVertex angle at vertex
gmIs a triangular patch TmThe position of the center of mass of the body,
jumping to the step seven;
step five: projecting the measuring points and the triangular meshes to an x-y plane, and determining the number of a triangular patch where the measuring points are located by judging whether the included angle between each measuring point and each vertex of the projection triangle is equal to 360 degrees or not;
step six: referring to fig. 6, the measurement point is O, three vertices A, B, C of the triangular patch where the measurement point is located are obtained by using the topological relation of the surface, and then the normal vector directions of the three points are calculated according to the method in step four. Measuring points O and A,B. C, connecting three points, dividing the triangular patch into three small triangles delta AOB delta BOC delta AOC, and respectively obtaining the areas S1、S2、S3And calculating to obtain the normal vector of the measuring point O as follows:
in the formula
The normal vectors at three points A, B, C respectively.
Step seven: and (5) reading the information of the next measuring point, and repeating the steps (three) to (six) until the normal vectors of all the measuring points are calculated.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (4)
1. A measuring point normal vector estimation method based on-machine detection of an STL model is characterized by comprising the following steps:
(1) topology reconstruction: performing topological reconstruction by taking points, lines and planes as units according to vertex coordinates and triangular patch normal vector information given in an STL file of the STL model, and establishing a relation between the points, the lines and the planes in the STL three-dimensional model through a programming tool;
(2) and (3) measuring point planning: intercepting and intersecting a group of parallel intercepting planes and the STL model, taking the obtained intersection points as model value points, constructing an interpolation curve by adopting a curve reverse solving method, and performing self-adaptive planning on measuring points according to a chord height method to solve the position coordinates of all measuring points;
(3) reading measuring point information according to the measuring point distribution after the measuring point planning, judging the position of the measuring point, and performing the step (4) when the measuring point is positioned at the vertex of the triangular mesh; when the measuring point is positioned in the triangular mesh, the step (6) is carried out;
(4) determining the number of the vertex where the measuring point is located through coordinate matching, finding the information of the adjacent point, line and plane through the topological relation of the vertex, and calculating the normal vector direction of the vertex based on the information
Jumping to the step (7); specifically, the information of the adjacent points, lines and surfaces is found through the topological relation of the vertex, and the normal vector direction of the vertex is calculated on the basis of the vertex angle and the centroid of the triangular patch
In the formula, NmIs the normal vector information of the triangular patch, viIs the position of the vertex, αmIs a neighborhood triangular patch T of the vertexmVertex angle at vertex
gmIs a triangular patch TmThe position of the center of mass of the body,
(5) projecting the measuring points and the triangular meshes to an x-y plane, and determining the numbers of triangular patches where the measuring points are located;
(6) obtaining three vertexes A, B, C of the triangular patch where the measuring point is located by using the topological relation of the surface, and calculating the normal vector directions of the three vertexes according to the method in the step (4); connecting the measuring points with the three vertexes, dividing the triangular patch into three small triangles, and respectively calculating the areas of the small triangles to be S1、S2、S3And calculating to obtain the normal vector of the measuring point
(7) Reading the information of the next measuring point, and repeating the steps (3) - (6) until the normal vectors of all the measuring points are calculated.
2. The method for estimating the measured point normal vector of on-machine inspection based on the STL model as claimed in claim 1, wherein in step (1), the relationship between the three points, the line and the plane in the STL three-dimensional model is established as follows:
(1) numbering all points, and finding the point and the information of the vertex, the edge and the surface adjacent to the point through any vertex;
(2) numbering all edges, and finding the information of the edge, an end point thereof and an adjacent surface through any edge;
(3) all faces are numbered and information of the face and its vertices, edges, neighboring faces can be found by any face.
3. The on-machine-inspection station normal vector estimation method based on the STL model as claimed in claim 1, wherein the programming tool in step (1) is Visual Studio 2010.
4. The method for estimating the normal vector of the measured point in the on-machine detection based on the STL model as claimed in claim 1, wherein in step (5), the number of the triangle patch where the measured point is located is determined by judging whether the included angle between the measured point and each vertex of the projection triangle is equal to 360 degrees.
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| CN111402420B (en) * | 2020-03-11 | 2023-06-06 | 苏州数设科技有限公司 | Method for labeling test points by using model |
| CN113239580A (en) * | 2020-12-21 | 2021-08-10 | 南京航空航天大学 | Laser radar measuring station position planning method for large structural member profile detection |
| CN113626944A (en) * | 2021-06-30 | 2021-11-09 | 广东科学技术职业学院 | Vector cross-multiplication-based grid surface patch retrieval method for curved surface part measurement points |
| CN113378324A (en) * | 2021-06-30 | 2021-09-10 | 广东科学技术职业学院 | Grid surface patch retrieval method based on included angle method and oriented to curved surface part measuring points |
| CN116304484B (en) * | 2023-01-10 | 2023-11-17 | 广东科学技术职业学院 | High-precision estimation method and system for grid model vertex normal vector |
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